Input: orange crank.
Lower point of violet bar draws intersection (violet curve) of yellow hemisphere and cylinder (inner surfaces).
Hemisphere diameter: D1 = 100. Cylinder diameter D2 = 30. Their offset: E = 25
Distance between two spherical joints of violet bar: 0.5 D1.
Distance between lower point and lower spherical joint of violet bar: 0.5 D1.
Center of yellow hemisphere and center of lower spherical joint of violet bar are coincident.
Rotary axis of orange crank lays in plane created by center of lower spherical joint of violet bar and axis of yellow cylinder. Distance of rotary axis of orange crank and axis of yellow cylinder: 2 E.
Axis distance between two revolute joints of orange crank: 0.5 D2